CN108681340A - A kind of shortwave rader intelligence follower and intelligent follower method - Google Patents
A kind of shortwave rader intelligence follower and intelligent follower method Download PDFInfo
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- CN108681340A CN108681340A CN201810367108.2A CN201810367108A CN108681340A CN 108681340 A CN108681340 A CN 108681340A CN 201810367108 A CN201810367108 A CN 201810367108A CN 108681340 A CN108681340 A CN 108681340A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 238000010191 image analysis Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 9
- 238000003672 processing method Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 210000003128 head Anatomy 0.000 description 4
- 239000000284 extract Substances 0.000 description 3
- 210000004709 eyebrow Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000005069 ears Anatomy 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005211 surface analysis Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of shortwave rader intelligence followers and intelligent follower method, wherein shortwave rader intelligence follower to include：Image analysis module acquires the image of user, and is compared with the human body macroscopic features of stored target user, determines whether target user；If target user, the image for being spaced certain frame number is compared, judges the motion state of target user；Obstacle avoidance module detects the position of barrier using shortwave rader in real time；Control module receives the judging result of image analysis module and the getting around barrier as a result, controlling the follower towards target user movement or the target user is followed to move of obstacle avoidance module detection.The present invention can be used for accompanying and following user, provide corresponding service, and vivid and interesting.
Description
Technical field
The present invention relates to intelligence, and equipment and follower method more particularly to a kind of intelligence based on shortwave rader to be followed to follow dress
It sets and corresponding follower method.
Background technology
With the raising of economic life level, the development of intelligent robot and intelligent early learning machine, parent is in order to improve child
Learning ability and the exploitation of early stage IQ, can all buy a pile intelligent toy to child, child edge is accompanied to play the custom of side study.It is greedy
The child of object for appreciation can at any time leave or go out temporarily with the variation of around additive factor.
Ultrasonic wave, laser radar realize the defect of tracking：A kind of machines following function with intelligence of CN201610473863-
The ultrasonic wave tracking mode of device people, including intelligent scanning laser radar sensor is more stepped in Shenzhen can not all pass through blocking object
Identification function without the defect for penetrating object, all replaced by new technology, such as station according to the characteristic of ultrasonic wave, laser radar
Environment more than people cannot use, every two or three people with regard to None- identified；It for another example stays at home, user passes by room door, can not all know
Not, because barrier shelters from ultrasonic wave and laser beam.
Laser radar, ultrasonic wave all can only complete positioning function in the case of visual, be that can not win from technology surface analysis
Appoint and penetrates object tracking task.
Invention content
The present invention proposes a kind of shortwave rader intelligence follower to solve above-mentioned problem of the prior art, including：
Image analysis module acquires the image of user, and is compared with the human body macroscopic features of stored target user, sentences
Whether disconnected is target user；If target user, the image for being spaced certain frame number is compared, judges the movement of target user
State；
Obstacle avoidance module detects the position of barrier using shortwave rader in real time；
Control module, receive image analysis module judging result and obstacle avoidance module detection as a result, controlling the follower
Barrier is got around towards target user movement or the target user is followed to move；
Gesture recognition module, the gesture of user, the control module execute corresponding finger according to the gesture after identification for identification
It enables；
Sound identification module extracts the sound characteristic information of target user, the language for acquiring the phonetic order of target user, and prestoring
Sound instruction is compared, and the control module executes corresponding instruction according to the gesture after identification.
In the technical program, the human body macroscopic features of above-mentioned target user includes face contour, height and measurements of the chest, waist and hips size, face
The color data of portion's skin, clothes and trousers.The height and measurements of the chest, waist and hips size are measured by shortwave rader.
Step 1, the human body macroscopic features of user is acquired, and stores the human body macroscopic features as current goal user；
Step 2, it receives after following instruction, user images, the people with stored target user is acquired by image processing method
Body macroscopic features is compared, and determines whether the moving direction of target user and target user, is transported towards target user
It is dynamic；
During being moved towards target user, the position of barrier is detected in real time by shortwave rader, get around barrier court
It is moved to target user or target user is followed to move, halt instruction is followed until receiving.
The present invention can intelligently be followed as small pet, can be used for childminding, it is good can also to become child
Playfellow.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the flow chart of present invention acquisition target user's human body macroscopic features；
Fig. 3 is the process for using figure of the person of being followed of the invention；
Fig. 4 is the work flow diagram of the intelligent follower of the present invention.
Specific implementation mode
Below in conjunction with drawings and examples, illustrate the structural principle of the present invention.
As shown in Figure 1, shortwave rader intelligence follower proposed by the present invention, including image analysis module, obstacle avoidance module with
And control module.Image analysis module is equipped with high-definition camera, and the human body macroscopic features that can be used for establishing target user includes
It is not limited to（Head, face, skin of face, ear, shoulder, waist, hall portion, crotch, clothes and trousers color, leg and foot, measure
Profile equidimension）Data, and during tracking, the image of user can also be acquired in real time, and use with stored target
The human body appearance biological characteristic at family is compared respectively, determines whether target user；If target user, a framing will be spaced
Several images are compared, and judge the motion state of target user.
When user starts mobile, moving range exceeds setting value（Example：Setting range is 1 meter minimum, 2 meters maximum）, avoidance
Module detects that echo frequency changes by shortwave rader, and control module counts out user's mobile data, notice driving mould
Block, output drive signal, intelligent follower start to move forward or back movement with the speed of 0.5m/s；When user no longer moves, intelligence
Can follower be then moved to and stop apart from the position of 1.2 meters of user.User moves again, then repeats entirely to track moving process.
Obstacle avoidance module detects the position of barrier using shortwave rader in real time, and shortwave rader can also acquire target in static state
When user images, target user's location information of standing is provided, height and measurements of the chest, waist and hips size is determined, in terms of avoidance, can be expert at
Barrier is tested when dynamic, if there is object of which movement in the detectable area of shortwave rader, the time of back wave will change, i.e.,
Doppler effect judges the object movement in transmitting radar wave region with this, to which control module can control servo motor
Or electronics, mechanically controlled switch make follower achieve the purpose that tracking.Specifically avoidance process is：When there is obstacle in front, keep away
The echo frequency that the shortwave rader of barrier module receives changes, the direction and the elevation angle of the transmitting microwave generated in moving process,
Judge the position of barrier, control module exports corresponding driving control signal, and intelligent follower is apart from 0.3m, barrier
It sets and starts to turn to, steering direction is then moved according to the direction of detections of radar to user data.
When target user is within the scope of follower certain distance, such as in 0.5-3 meters, gesture recognition module can be known
Other target user's gesture, to control module can execute advance, retrogressing, to the left, the gestures such as to the right, but be not limited to these
Gesture.Target user can be sent out phonetic order, and sound identification module extracts the sound characteristic information of target user, acquires mesh
The phonetic order of user is marked, and the phonetic order to prestore is compared, control module executes corresponding according to the gesture after identification
Instruction.For example, sending out " single palm, which is turned left, waves " to intelligent follower, gesture recognition module is exported to left signal, intelligent follower
It is moved to the left, " single palm, which is turned right, waves ", gesture recognition module is exported to right signal, and intelligent follower moves right.
It is also possible to display module is arranged on intelligent follower, to show the words of needs, pattern or regard
Frequently.The movement velocity of intelligent follower can have several modes optional, such as simulate the speed 0.5m/s of child；Simulate middling speed
0.8m/s；Simulate the speed 1.1m/s etc. of adult.Under some velocity mode, when walk too fast of target user or because its
His reason, cause the distance between intelligent follower and target user farther out either tracking failure when（Such as more than 3 meters）, intelligence
Can follower can carry out corresponding voice prompt, such as " owner, etc. I " etc.
As shown in Figures 2 to 4, shortwave rader intelligence follower method proposed by the present invention acquires the image of user at the beginning
It is stored as the human body macroscopic features of target user, later after receiving and following instruction, user is acquired by image processing method
Image compares with the human body macroscopic features of stored target user, determines whether target user and target user
Moving direction, towards target user move；During being moved towards target user, barrier is detected in real time by shortwave rader
Hinder the position of object, gets around barrier and moved towards target user or target user is followed to move.After receiving and following halt instruction,
It will stop following.
The intelligence follower receives the instruction that target user sends out, and hold within the scope of distance objective user's certain distance
Row.It can also be phonetic order that specific instruction, which can be gesture instruction, wherein phonetic order can be HKUST News it is this kind of at
Ripe speech recognition technology.
The present invention before the use, can first be authenticated user, to determine the information or human body appearance of target user
Feature, for example, target user front can be required to stand erectly, the back side is stood erectly, and side is stood erectly, and is chinned up and chested out；Under power on mode, by opening
Dynamic key, the outline border model of screen display people, the especially position of biped, there are two corresponding human body footmarks, and voice, word carry
Show subscriber station in footmark position, hear voice and " serge serge " prompting sound, starts to acquire user data.When the acquisition of front, acquisition
The point space between the eyebrows, among the place between the eyebrows bone of left and right, jawbone, nose, Renzhong acupoint, lower jaw, ears, contouring head, both shoulders, measurements of the chest, waist and hips, hall portion, hip
Portion, the color of clothes and trousers, leg and foot, body configuration's profile.When side acquires, acquisition contouring head, lower jaw, nose, ear
Piece, color, leg and foot, the body configuration's profile of place between the eyebrows, arm, finger, measurements of the chest, waist and hips, clothes and trousers.When the back side acquires, the crown,
Contouring head, ears, arm, finger tip, measurements of the chest, waist and hips, both shoulders, measurements of the chest, waist and hips, hall portion, crotch etc..Hand identification can also be finally carried out to adopt
Collection.
After having acquired information, has and hear that voice and " serge serge " prompting sound can normal uses.
In use, shortwave rader sends out signal of exploring the way, intelligent follower starts slowly to turn-take, and image analysis module passes through height
Clear camera begins search for the target user set, after target user occurs, intelligent follower extract user information and with set
The characteristics of human body's information for setting database module is compared, and judges to confirm that unanimously intelligent follower stops operating, user is waited for go out
Hair.Then tracking, avoidance flow are executed.
It should be understood that the above-mentioned description for specific embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, scope of patent protection of the invention should be determined by the appended claims.
Claims (8)
1. a kind of shortwave rader intelligence follower, which is characterized in that including：
Image analysis module, acquires the image of user, and with the human body appearance biological characteristic of stored target user respectively into
Row comparison, determines whether target user；If target user, the image for being spaced certain frame number is compared, judges target
The motion state of user；
Obstacle avoidance module detects the position of barrier using shortwave rader in real time；
Control module, receive image analysis module judging result and obstacle avoidance module detection as a result, controlling the follower
Barrier is got around towards target user movement or the target user is followed to move.
2. shortwave rader intelligence follower as described in claim 1, which is characterized in that further include gesture recognition module, be used for
Identify that the gesture of user, the control module execute corresponding instruction according to the gesture after identification.
3. shortwave rader intelligence follower as described in claim 1, which is characterized in that further include sound identification module, extraction
The sound characteristic information of target user, acquires the phonetic order of target user, and the phonetic order to prestore is compared, the control
Molding root tuber executes corresponding instruction according to the gesture after identification.
4. shortwave rader intelligence follower as described in claim 1, which is characterized in that the human body appearance of the target user is special
Sign includes face contour, height and measurements of the chest, waist and hips size, skin of face, clothes and trousers color data.
5. shortwave rader intelligence follower as described in claim 1, which is characterized in that the height and measurements of the chest, waist and hips size are by shortwave
Radar is measured.
6. a kind of shortwave rader intelligence follower method, which is characterized in that including：
Step 1, the human body macroscopic features of user is acquired, and stores the human body macroscopic features as current goal user；
Step 2, it receives after following instruction, user images, the people with stored target user is acquired by image processing method
Body macroscopic features is compared, and determines whether the moving direction of target user and target user, is transported towards target user
It is dynamic；
During being moved towards target user, the position of barrier is detected in real time by shortwave rader, get around barrier court
It is moved to target user or target user is followed to move, halt instruction is followed until receiving.
7. shortwave rader intelligence follower method as claimed in claim 6, which is characterized in that in distance objective user's certain distance
In range, the instruction that target user sends out is received, and execute.
8. shortwave rader intelligence follower method as claimed in claim 7, which is characterized in that described instruction include gesture instruction and
Phonetic order.
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| CN201810367108.2A CN108681340A (en) | 2018-04-23 | 2018-04-23 | A kind of shortwave rader intelligence follower and intelligent follower method |
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Cited By (4)
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| CN109235335A (en) * | 2018-11-23 | 2019-01-18 | 北京小米移动软件有限公司 | Pet dung descaling machine and pet dung clear up system |
| CN110543177A (en) * | 2019-09-27 | 2019-12-06 | 珠海市一微半导体有限公司 | Robot for walking baby automatically and method for walking baby automatically |
| CN111352432A (en) * | 2018-12-20 | 2020-06-30 | 北京石头世纪科技股份有限公司 | Intelligent cleaning device, control method thereof and readable medium |
| CN112890680A (en) * | 2019-11-19 | 2021-06-04 | 科沃斯机器人股份有限公司 | Follow-up cleaning operation method, control method, device, robot and storage medium |
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| CN112890680B (en) * | 2019-11-19 | 2023-12-12 | 科沃斯机器人股份有限公司 | Follow-up cleaning operation method, control device, robot and storage medium |
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